diff --git a/urx/urrobot.py b/urx/urrobot.py
index 94c87f5..54641db 100644
--- a/urx/urrobot.py
+++ b/urx/urrobot.py
@@ -104,6 +104,13 @@ class URRobot(object):
             force += i**2
         return force**0.5
 
+    def get_joint_current(self, wait=True):
+        """
+        return measured joint current
+        if wait==True, waits for next packet before returning
+        """
+        return self.rtmon.getJOINTCurrent(wait)
+
     def set_tcp(self, tcp):
         """
         set robot flange to tool tip transformation
diff --git a/urx/urrtmon.py b/urx/urrtmon.py
index 9c08133..d3fa1c6 100644
--- a/urx/urrtmon.py
+++ b/urx/urrtmon.py
@@ -47,6 +47,7 @@ class URRTMonitor(threading.Thread):
         self._qTarget = None
         self._tcp = None
         self._tcp_force = None
+        self._joint_current = None
         self.__recvTime = 0
         self._last_ctrl_ts = 0
         # self._last_ts = 0
@@ -140,6 +141,18 @@ class URRTMonitor(threading.Thread):
                 return tcf_force
     getTCFForce = tcf_force
 
+    def joint_current(self, wait=False, timestamp=False):
+        """ Get the joint current."""
+        if wait:
+            self.wait()
+        with self._dataAccess:
+            joint_current = self._joint_current
+            if timestamp:
+                return self._timestamp, joint_current
+            else:
+                return joint_current
+    getJOINTCurrent = joint_current
+
     def __recv_rt_data(self):
         head = self.__recv_bytes(4)
         # Record the timestamp for this logical package
@@ -178,6 +191,7 @@ class URRTMonitor(threading.Thread):
             self._qTarget = np.array(unp[1:7])
             self._tcp_force = np.array(unp[67:73])
             self._tcp = np.array(unp[73:79])
+            self._joint_current = np.array(unp[43:49])
 
             if self._csys:
                 with self._csys_lock:
@@ -245,7 +259,8 @@ class URRTMonitor(threading.Thread):
                 qActual=self._qActual,
                 qTarget=self._qTarget,
                 tcp=self._tcp,
-                tcp_force=self._tcp_force)
+                tcp_force=self._tcp_force,
+                joint_current=self._joint_current)
 
     def stop(self):
         # print(self.__class__.__name__+': Stopping')